3.Coarse error elimination

Set a reasonable threshold for the side-scan data energy. If the energy of side-scan data is lower than the threshold, it indicates a bad ping and should be deleted.

**43**

*Advanced Mapping of the Seafloor Using Sea Vehicle Mounted Sounding Technologies*

correction curve to perform angle correction on each ping data.

Analyze existing BSSS data and select data corresponding to the seafloor with a constant slope. Let the slope pass the point just below the sonar array to find the optimal slope of the seafloor; use this slope to obtain the angle correction curve of bathymetric data. Next, use median filter to filter the obtained angle correction curve, filter out high-frequency components, and retain only lowfrequency components to reflect the larger change trend. Finally, use the angle

Read ping data in the BSSS data file, obtain the delay and angle of each ping, and convert to slant range and angle. Calculate the horizontal distance and the vertical height of each ping according to the triangular geometric relationship (taking the installation angle of the sonar array into consideration). Add the port/starboard position to the horizontal distance while maintaining the vertical height. Recalculate the corresponding slant range and angle according

to the triangular geometric relationship and convert to delay and angle.

Perform median filtering and smoothing for roll, pitch, and heading.

Filter bathymetric data by setting the height, horizontal coordinates, depth,

If there is a suitable swath, select the swath that meets the requirements, carry out the corresponding error test, and make corresponding corrections to sup-

Filter side-scan data by setting the height, horizontal coordinates, depth, and

Side-scan data processing requires bottom tracking to delete the water column and generally selects automatic bottom tracking. If the effect is not appropri-

Correct the installation angle with 30°, which is measured.

Trim the pings manually to realize fine error elimination.

press deviation of the roll, navigation latency, and pitch.

ate, bottom tracking can be manually set.

Input the measured sound velocity by CTD.

*DOI: http://dx.doi.org/10.5772/intechopen.83448*

5.Port/starboard position correction

**5.2 Data post-processing**

1.Installation angle correction

2.Sound velocity correction

4.Bathymetric data filtering

3.Attitude data filtering

and slant distance.

5.Fine error elimination

7.Side-scan data filtering

6.Field correction

slant distance.

8.Bottom tracking

4.Angular deviation correction

**Figure 12.** *Flow diagram of data processing and mapping.*

*Advanced Mapping of the Seafloor Using Sea Vehicle Mounted Sounding Technologies DOI: http://dx.doi.org/10.5772/intechopen.83448*
